# Catkin User Guide: http://www.ros.org/doc/groovy/api/catkin/html/user_guide/user_guide.html
# Catkin CMake Standard: http://www.ros.org/doc/groovy/api/catkin/html/user_guide/standards.html
cmake_minimum_required(VERSION 3.1)
project(mrpt_ekf_slam_3d)
#find catkin packages
find_package(catkin REQUIRED COMPONENTS
  cmake_modules
  roslib
  roscpp
  tf
  std_msgs
  nav_msgs
  sensor_msgs
  visualization_msgs
  mrpt_bridge
  dynamic_reconfigure
  roslaunch)

#find mrpt packages
find_package(MRPT 1.5 REQUIRED gui obs slam)
message(STATUS "MRPT_VERSION: ${MRPT_VERSION}")

if (MRPT_VERSION VERSION_LESS "1.9.9")
  set (CMAKE_CXX_STANDARD 14)
	add_compile_options("-Wno-deprecated-declarations")
endif()
if (CMAKE_COMPILER_IS_GNUCXX)
	# High level of warnings.
	# The -Wno-long-long is required in 64bit systems when including sytem headers.
	# The -Wno-variadic-macros was needed for Eigen3, StdVector.h
	add_compile_options(-Wall -Wno-long-long -Wno-variadic-macros)
	# Workaround: Eigen <3.4 produces *tons* of warnings in GCC >=6. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1221
	if (NOT ${CMAKE_CXX_COMPILER_VERSION} LESS "6.0")
		add_compile_options(-Wno-ignored-attributes -Wno-int-in-bool-context)
	endif()
endif()

IF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
  add_compile_options(-O3)
ENDIF()

catkin_package(
    CATKIN_DEPENDS
		nav_msgs
    sensor_msgs
    std_msgs
    visualization_msgs
    )

###########
## Build ##
###########

include_directories(
  ${catkin_INCLUDE_DIRS}
#  ${Eigen_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}
  include
)


IF(${MRPT_VERSION} LESS 1.5.0)
  MESSAGE(WARNING "Target mrpt_ekf_slam_3d will not be built. It requires MRPT version 1.5.0 or higher, but you have ${MRPT_VERSION}.")
else()

add_executable(mrpt_ekf_slam_3d
    src/mrpt_ekf_slam_3d.cpp
    src/mrpt_ekf_slam_3d_wrapper.cpp
    src/mrpt_ekf_slam_3d_app.cpp
)

TARGET_LINK_LIBRARIES(mrpt_ekf_slam_3d ${MRPT_LIBRARIES}
    ${catkin_LIBRARIES}
)

#############
## Install ##
#############

# Mark executables and/or libraries for installation
install(TARGETS mrpt_ekf_slam_3d
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY
  launch
  tutorial
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

#############
## Testing ##
#############
# Add testing for *.launch files
roslaunch_add_file_check(launch)

endif()
